An Adaptive Approach to State Feedback Tracking Control of Systems with Actuator Failures

This paper studies the problem of designing fault-tolerant adaptive tracking controllers via state feedback for linear time invariant plants with lock-in-place (LIP) actuator failures, In the case of LIP failure the actuator "freezes" at a certain condition and does not respond to subsequent commands. A new direct adaptive state feedback control scheme to developed for compensate the LIP actuator failures. Conditions and controller structures for achieving plant-model state matching in the presence of actuator failures are derived. Adaptive laws are designed for updating the controller parameters. Closed-loop stability and asymptotic state tracking are ensured. Simulation results show that desired state tracking is achieved with the developed adaptive actuator failure compensation control designs.